Sik Chiu Chow / Mbed 2 deprecated encoder1

encoder modify from arduino

Dependencies:   mbed Nucleo_Hello_Encoder

encoder1.cpp@0:88abae0234d5, 2021-11-01 (annotated)

Committer:
ea78anana
Date:
Mon Nov 01 15:39:01 2021 +0000
Revision:
0:88abae0234d5
encoder modify form arduino

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ea78anana 0:88abae0234d5 1 #include "mbed.h"
ea78anana 0:88abae0234d5 2
ea78anana 0:88abae0234d5 3 #define PinA1 D14 //外部中断0
ea78anana 0:88abae0234d5 4 #define PinZ1 D12 //外部中断1
ea78anana 0:88abae0234d5 5 #define PinB1 D15 //编码器的OUT_B信号连接到数字端口8
ea78anana 0:88abae0234d5 6
ea78anana 0:88abae0234d5 7 #define PinA2 D8 //外部中断0
ea78anana 0:88abae0234d5 8 #define PinZ2 D6 //外部中断1
ea78anana 0:88abae0234d5 9 #define PinB2 D7 //编码器的OUT_B信号连接到数字端口8
ea78anana 0:88abae0234d5 10
ea78anana 0:88abae0234d5 11 #define PinA3 D4 //外部中断0
ea78anana 0:88abae0234d5 12 #define PinZ3 D3 //外部中断1
ea78anana 0:88abae0234d5 13 #define PinB3 D2 //编码器的OUT_B信号连接到数字端口8
ea78anana 0:88abae0234d5 14 #define T 30 //定义采集时间周期单位ms
ea78anana 0:88abae0234d5 15
ea78anana 0:88abae0234d5 16 Timer f;
ea78anana 0:88abae0234d5 17 unsigned long time1 = 0; // 时间标记
ea78anana 0:88abae0234d5 18 volatile long PulSum_CW = 0; //定义长整型不可修改脉冲数
ea78anana 0:88abae0234d5 19 volatile long PulSum_CCW = 0;
ea78anana 0:88abae0234d5 20
ea78anana 0:88abae0234d5 21
ea78anana 0:88abae0234d5 22 long PulSum_CW_t0 = 0; //定义记录顺时针方向 t0 时刻脉冲数变量
ea78anana 0:88abae0234d5 23 long PulSum_CW_t0_T = 0; //定义记录顺时针方向 t0+T 时刻脉冲数变量
ea78anana 0:88abae0234d5 24
ea78anana 0:88abae0234d5 25
ea78anana 0:88abae0234d5 26 float Rad_CW_Speed = 0.000; //定义顺时针角速度
ea78anana 0:88abae0234d5 27 float Rad_CCW_Speed = 0.000; //定义逆时针角速度
ea78anana 0:88abae0234d5 28
ea78anana 0:88abae0234d5 29 DigitalIn ain11(PinA1);//因为编码器信号为欧姆龙E6B2-CWZ6C，为开漏输出，因此需要上拉电阻，此处采用arduino的内部上拉输入模式，置高
ea78anana 0:88abae0234d5 30 DigitalIn ain12(PinB1);//同上
ea78anana 0:88abae0234d5 31 DigitalIn ain13(PinZ1);//脉冲中断函数：捕捉A相信号，并判断A、B相先后顺序
ea78anana 0:88abae0234d5 32
ea78anana 0:88abae0234d5 33 DigitalIn ain21(PinA2);//因为编码器信号为欧姆龙E6B2-CWZ6C，为开漏输出，因此需要上拉电阻，此处采用arduino的内部上拉输入模式，置高
ea78anana 0:88abae0234d5 34 DigitalIn ain22(PinB2);//同上
ea78anana 0:88abae0234d5 35 DigitalIn ain23(PinZ2);//脉冲中断函数：捕捉A相信号，并判断A、B相先后顺序
ea78anana 0:88abae0234d5 36
ea78anana 0:88abae0234d5 37 DigitalIn ain31(PinA3);//因为编码器信号为欧姆龙E6B2-CWZ6C，为开漏输出，因此需要上拉电阻，此处采用arduino的内部上拉输入模式，置高
ea78anana 0:88abae0234d5 38 DigitalIn ain32(PinB3);//同上
ea78anana 0:88abae0234d5 39 DigitalIn ain33(PinZ3);//脉冲中断函数：捕捉A相信号，并判断A、B相先后顺序
ea78anana 0:88abae0234d5 40
ea78anana 0:88abae0234d5 41
ea78anana 0:88abae0234d5 42
ea78anana 0:88abae0234d5 43 long PulSum_CCW_t0 = 0; //定义记录逆时针方向 t0 时刻脉冲数变量
ea78anana 0:88abae0234d5 44 long PulSum_CCW_t0_T = 0; //定义记录逆时针方向 t0+T 时刻脉冲数变量
ea78anana 0:88abae0234d5 45
ea78anana 0:88abae0234d5 46 // 记录角度
ea78anana 0:88abae0234d5 47 int Rad = 180;
ea78anana 0:88abae0234d5 48
ea78anana 0:88abae0234d5 49
ea78anana 0:88abae0234d5 50
ea78anana 0:88abae0234d5 51 void loop()
ea78anana 0:88abae0234d5 52 {
ea78anana 0:88abae0234d5 53 // 角度计算程序
ea78anana 0:88abae0234d5 54 Rad = int((PulSum_CW - PulSum_CCW)/6.944) % 360;
ea78anana 0:88abae0234d5 55 if (Rad>=180) {
ea78anana 0:88abae0234d5 56 Rad = Rad - 360;
ea78anana 0:88abae0234d5 57 }
ea78anana 0:88abae0234d5 58
ea78anana 0:88abae0234d5 59 PulSum_CW_t0 = PulSum_CW;
ea78anana 0:88abae0234d5 60 PulSum_CCW_t0 = PulSum_CCW; //采集t0时刻的脉冲数
ea78anana 0:88abae0234d5 61 wait(T); //等待一个T时间
ea78anana 0:88abae0234d5 62 PulSum_CW_t0_T = PulSum_CW;
ea78anana 0:88abae0234d5 63 PulSum_CCW_t0_T = PulSum_CCW; //采集t0+T时刻的脉冲数
ea78anana 0:88abae0234d5 64 wait(T); //等待一个T时间
ea78anana 0:88abae0234d5 65
ea78anana 0:88abae0234d5 66 // 如果检测到正向角速度，那么就打印角速度，以及累计的角度
ea78anana 0:88abae0234d5 67 if (PulSum_CW_t0_T - PulSum_CW_t0 != 0){
ea78anana 0:88abae0234d5 68 Rad_CW_Speed = (PulSum_CW_t0_T - PulSum_CW_t0); //
ea78anana 0:88abae0234d5 69 // 显示正向(CW)角速度 Rad_CW_Speed---> //打印出来速度
ea78anana 0:88abae0234d5 70 //printf("AS:"); //打印出来速度w
ea78anana 0:88abae0234d5 71 printf("%f", Rad_CW_Speed);
ea78anana 0:88abae0234d5 72 printf(":");
ea78anana 0:88abae0234d5 73 //printf("/A:");
ea78anana 0:88abae0234d5 74 printf("%d",Rad);
ea78anana 0:88abae0234d5 75 printf("\n");
ea78anana 0:88abae0234d5 76 }
ea78anana 0:88abae0234d5 77
ea78anana 0:88abae0234d5 78 // 如果检测到反向角速度，那么就打印角速度，以及累计的角度
ea78anana 0:88abae0234d5 79 if (PulSum_CCW_t0_T - PulSum_CCW_t0 != 0){
ea78anana 0:88abae0234d5 80 Rad_CCW_Speed = (PulSum_CCW_t0 - PulSum_CCW_t0_T);
ea78anana 0:88abae0234d5 81 //printf("AS:");
ea78anana 0:88abae0234d5 82 printf("%f", Rad_CCW_Speed);
ea78anana 0:88abae0234d5 83 printf(":");
ea78anana 0:88abae0234d5 84 //printf("/A:");
ea78anana 0:88abae0234d5 85 printf("%d",Rad);
ea78anana 0:88abae0234d5 86 printf("\n");
ea78anana 0:88abae0234d5 87 }
ea78anana 0:88abae0234d5 88
ea78anana 0:88abae0234d5 89
ea78anana 0:88abae0234d5 90
ea78anana 0:88abae0234d5 91 }
ea78anana 0:88abae0234d5 92 void Encode()
ea78anana 0:88abae0234d5 93 {//当编码器码盘的OUTA脉冲信号下跳沿每中断一次，
ea78anana 0:88abae0234d5 94 f.start();
ea78anana 0:88abae0234d5 95 uint32_t m = f.read_ms();
ea78anana 0:88abae0234d5 96 if ((m - time1) > 5)
ea78anana 0:88abae0234d5 97 {
ea78anana 0:88abae0234d5 98 if (((ain11 == 0) && (ain12 == 1)) || ((ain21 == 0) && (ain22 == 1)) || ((ain31 == 0) && (ain32 == 1)) )
ea78anana 0:88abae0234d5 99 {PulSum_CW ++;}
ea78anana 0:88abae0234d5 100 else
ea78anana 0:88abae0234d5 101 {PulSum_CCW ++;}
ea78anana 0:88abae0234d5 102 }
ea78anana 0:88abae0234d5 103 time1 = m;
ea78anana 0:88abae0234d5 104 f.stop();
ea78anana 0:88abae0234d5 105 }